Mini-SLAM: Minimalistic Visual SLAM in Large-Scale Environments Based on a New Interpretation of Image Similarity.
Henrik AndreassonTom DuckettAchim J. LilienthalPublished in: ICRA (2007)
Keyphrases
- visual slam
- image similarity
- dynamic environments
- monocular slam
- real time
- simultaneous localization and mapping
- image database
- camera motion
- monocular camera
- human perception
- image content
- mutual information
- image retrieval
- low level features
- mobile robot
- visual features
- similarity measure
- bundle adjustment
- image matching
- relevance feedback
- high level
- multibody
- data association
- real environment
- image regions
- pose estimation
- object detection
- low level
- multiscale
- three dimensional